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   <div id="projectname">OpenLoong Dynamics Control
   &#160;<span id="projectnumber">v0.1.0</span>
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<div class="title">Install </div>  </div>
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<div class="textblock"><h1><a class="anchor" id="autotoc_md24"></a>
Setup the environment</h1>
<h2><a class="anchor" id="autotoc_md25"></a>
suggested platform</h2>
<ul>
<li>operate sysem: Ubuntu 22.04.4 LTS</li>
<li>compile: GCC 11.4.0 </li>
</ul>
<h2><a class="anchor" id="autotoc_md26"></a>
install dependencies</h2>
<p>This repository simulates the "AzureLoong" humanoid robot. Some dependencies including mujoco, pinocchio, eigen, quill, GLFW, jsoncpp are already contained in the code, but the simulation still needs openGL, which can be installed by executing the following instruction: </p><div class="fragment"><div class="line">sudo apt install libglu1-mesa-dev freeglut3-dev</div>
</div><!-- fragment --><h2><a class="anchor" id="autotoc_md27"></a>
simulation software</h2>
<p>This code can be deployed on <a href="https://github.com/google-deepmind/mujoco/releases">Mujoco</a>, the installing instructions are as follow:</p>
<ol type="1">
<li>download the mujoco file: <div class="fragment"><div class="line">mkdir ~/.mujoco</div>
<div class="line">tar -zxvf mujoco-3.1.3-linux-x86_64.tar.gz -C ~/.mujoco</div>
<div class="line">gedit ~/.bashrc</div>
</div><!-- fragment --></li>
<li>add at the end of the file: <div class="fragment"><div class="line">export LD_LIBRARY_PATH=~/.mujoco/mujoco210/bin</div>
</div><!-- fragment --></li>
<li>save the file and test: <div class="fragment"><div class="line">source ~/.bashrc</div>
<div class="line">cd ~/.mujoco/mujoco-3.1.3/bin</div>
<div class="line">./simulate ../model/humanoid.xml</div>
</div><!-- fragment --></li>
</ol>
<h1><a class="anchor" id="autotoc_md28"></a>
Code Fetch and Compilation</h1>
<p>The code can be downloaded in gitee or you can clone the repository using git </p><div class="fragment"><div class="line"># Clone</div>
<div class="line">git clone https://atomgit.com/openloong/openloong-dyn-control.git</div>
<div class="line"> </div>
<div class="line"># Build</div>
<div class="line">cd openloong-dyn-control</div>
<div class="line">mkdir build</div>
<div class="line">cd build</div>
<div class="line">cmake ..</div>
<div class="line">make</div>
<div class="line"> </div>
<div class="line"># mujoco simulation</div>
<div class="line">./Walk_mpc_wbc #or ./Walk_wbc or ./Jump_mpc</div>
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